IntelliMan_WP5_Grasping, Manipulation and Arm-Hand Coordination_T5.1_Data fusion and sensing technology_ICECS2025_Data

The dataset consists of tactile signals acquired from an 8-sensor PVDF (P(VDF-TrFE)) array embedded in a soft finger cap worn on the fingertip during touch interactions. Data were collected while subjects performed press, slide, and release actions on two textured surfaces (smooth and rough), with a 6-axis force/torque sensor used as ground truth for contact and slippage events. Two subjects were involved in this experiment, with each one collecting 150 trials from each texture type, and the dataset was used to develop and evaluate a threshold-based real-time algorithm for detecting contact onset, slippage, and release events.